Driver assistance system for a vehicle

ABSTRACT

A driver assistance system suitable for use in a vehicle includes a forward-viewing camera mounted at a front windshield of the vehicle, and an event recorder having an image processor and memory. Based at least in part on processing by the image processor of image data captured by the camera, a lane departure warning is generated if, when a turn signal of the vehicle is not activated, at least one of (i) the vehicle is heading towards a lane marking and (ii) the vehicle is within a certain distance of an edge of a lane marking for a certain time. Based at least in part on processing by the image processor of image data captured by the camera, a forward collision alert is generated if the vehicle is heading towards a given object with the separation between the vehicle and the given object being less than a threshold.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 13/970,868, filed Aug. 20, 2013, now U.S. Pat. No. 9,365,162,which claims the filing benefit of U.S. provisional application Ser. No.61/684,877, filed Aug. 20, 2012, which is hereby incorporated herein byreference in its entirety.

FIELD OF THE INVENTION

The invention generally relates to the field of driver assistancesystems.

BACKGROUND OF THE INVENTION

A driver assistance system (DAS) monitors the surrounding environment ofan automotive vehicle and provides feedback to the driver to warn abouta potentially hazardous event that may occur if the driver does not takecorrective action.

In a typical DAS commercially available today, a camera is mounted tothe front windshield of a vehicle to monitor a region forward of thevehicle. The camera is connected to an image processor or digital signalprocessor which is programmed to analyze the images obtained by thecamera and determine whether or not a predefined probability eventexists. For example, the image processor may track objects in the fieldof view, estimate the distance to each object and determine whether ornot the trajectory of the vehicle lies in the path of the object. In theevent the vehicle is heading towards a given object and the distancebetween the vehicle and the given object is less than a predefinedthreshold, the image processor may recognizes this situation as a‘forward collision’ probability event and send a forward collision alert(FCA) to the driver. The alert may be provided in a number of differentways depending on the DAS system in question, such as an audible sound,or a momentarily application of the brakes or automatically turning offa cruise control.

Similarly, the image processor may analyze the lane markings on theroadway to determine if the vehicle is heading towards and touches or iswithin a certain distance of the edge of the lane marking for a certaintime when the turn signal is not activated. In this case the imageprocessor may recognize this situation as a ‘lane departure’ probabilityevent and alert the driver that he or she is unintentionally veering outof the current lane and provide a lane departure warning (LDW) to thedriver such as a vibration or tug in the steering wheel.

There are a variety of other DAS systems that have been deployedcommercially which use optical cameras, radar, or ultrasonic sensors tosense a spatial region external to the vehicle. Examples of other DASsystems are ultrasonic backup warning systems, which warn the driver ofa potential obstacle in the path of the vehicle when the vehicle isplaced in reverse and provide a louder and louder chime as the vehiclegets closer to an obstacle; radar based side collision systems, whichscan the blind spots of the vehicle that are not viewable by theexternal side mirrors to warn of another vehicle in the blind spot byflashing a light or lamp in the external side view mirror; or camerabased high beam systems, which determine whether or not the vehicle isclose enough to another vehicle so as to alert the driver orautomatically control for the driver the application of the low beam andhigh beam lights.

In each of these cases, the developers of the DAS system most likelytested their systems to ensure that the DAS system met certainobjectives. Nevertheless, it would be beneficial to know just how usefulsuch DAS systems are to the public at large. Do they in fact work wellunder real world conditions? Is the extra cost of such systems justifiedbecause they save lives? Should such systems be made mandatory? Or isthe efficacy of such systems only marginal because they raise too manyfalse positives that are ignored by drivers?

The first step in answering such questions entails the necessity ofcollecting useful statistical information with respect to the efficacyof the DAS employed in the automotive vehicle. This leads to the problemof what data to collect, and how to collect it given that the DAS has tocontinuously monitor certain data that the system must analyze whileneeding to retain certain data for statistical purposes. The limitedmemory storage capacity of vehicle control system(s) is also a problem.

SUMMARY OF THE INVENTION

Generally speaking, the present invention provides a method and systemfor obtaining useful statistical information with respect to theefficacy of the DAS employed in the automotive vehicle. When the DASrecognizes one or more probability events, the system captures andstores the probability event as well as pre-event and post-event datafor subsequent retrieval.

According to a first aspect of the present invention, a method ofobtaining data or information relating to a driver assistance systeminstalled on a vehicle is provided. The driver assistance systemincludes a sensor (such as a camera) for sensing a region or spatialregion external to the vehicle. The method includes capturing sensorydata (such as images) pertaining to the external spatial region as thevehicle moves; buffering a first group of vehicle signals and storing apre-event value for each signal of the first group in a pre-eventbuffer; and analyzing the sensory data to detect one or more types ofprobability events. When a given probability event is detected, themethod monitors a second group of vehicle signals for a post-event timeperiod after the occurrence of the given probability event and, duringthe post event time period, a signal of the second group is processedwith a predetermined function to generate a post-event signal value.Data is also recorded in a memory, wherein the recorded data comprisesthe type of detected probability event, the pre-event signal value, andthe post-event signal value.

The method optionally, and desirably, monitors the first group ofvehicle signals and continuously stores the values of these signals in asegmented memory buffer (having at least two buffer segments) in roundrobin fashion. Each buffer segment is used to store the most recentvalue of the first group of vehicle signals over a time interval “t”.Thus, for example, if the time interval is 3 seconds and there are twobuffer segments, the first buffer segment stores the values of the firstgroup of vehicle signals for an initial 3 seconds, the second buffersegment stores the values of the first group of vehicle signals for thenext 3 seconds, the first buffer segment would then be overwritten tostore the values of the first group of vehicle signals for the next 3seconds, and the second buffer segment would then be overwritten tostore the values of the first group of vehicle signals for the next 3seconds, and so on. When a probability event is detected, the pre-eventdata that is incorporated into the associated data set is obtained fromthe buffer segment that is currently inactive. This technique ensuresthat pre-event data is collected over a consistent time period that isno less than 1t old and no more than 2t old.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a system block diagram of a DAS system in conjunction with avehicle control area network;

FIG. 2 is a block diagram of a data collection format;

FIG. 3 is a flowchart of an event recorder algorithm;

FIGS. 4-6 are flowcharts of various portion of the event recorderalgorithm;

FIGS. 7 and 8 are examples of histograms;

FIG. 9 is a block diagram of another data collection format;

FIG. 10 is a flowchart of another event recorder algorithm;

FIGS. 11-13 are examples of histograms;

FIG. 14 is a schematic of the FCM system interface;

FIG. 15 is a flowchart of the process events in RAM;

FIG. 16 is a schematic of a hierarchy of sequenced events;

FIG. 17 is a flowchart of the process of determining what to store;

FIG. 18 is a schematic of the image processor and MPC;

FIG. 19 is a block diagram of the memory allocation by the system of thepresent invention; and

FIG. 20 is a flowchart showing the strategy for the external tool toextract Images.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 shows a DAS system 10 in block diagram form. The DAS system 10includes: a forward facing optical camera 12 mounted to the frontwindshield of a vehicle, an image processor 14, such as an EyeQ2™processor commercially available from Mobileye Nev., which interpretsthe images obtained from the camera 12; a microcontroller 16, whichconnected to the image processor via a bus 15, for controlling andinterpreting data obtained from the image processor; and a bus interface18 for interfacing the DAS system 10 with a vehicle control area network(CAN) bus 20. The CAN bus 20 includes a vehicle controller 22 which isconnected to various other subsystems and sensors (not shown) of thevehicle as known in the art and collects and provides vehicle operatingdata over the CAN bus 20. Such operating data includes information suchas global positioning system (GPS) coordinates, vehicle speed, vehicleacceleration, steering angle, accelerometer position, brake deployment,airbag deployment, and anti-lock braking system (ABS) deployment and/orthe like. A transceiver 24, such as an ONSTAR® module or telematicsmodule, is also connected to the CAN bus 20 and is used to offloadstatistical information to a centralized external data bank, asdiscussed in greater below.

The DAS 10 includes a Trip Statistics and Alert Data Download (TSADD)subsystem 30, which in the illustrated embodiment is provided as asoftware module that is primarily executed by the microcontroller 16.The TSADD 30 collects and records pertinent data substantially at andaround the time of a lane departure warning (LDW) or forward collisionalert (FCA) alert generated by the image processor 14. The collecteddata includes the identity of the probability event or warning as wellas contemporaneous event data related to the state of the vehiclesubstantially at the time the probability event. The collected data alsoincludes pre-event and post-event data related to the state of thevehicle in respect of time periods shortly before and shortly after theprobability event, as discussed in greater detail below. The event dataincludes information generated by the DAS 10 and information received onthe CAN bus 20. The TSADD 30 makes the collected event data available tobe read over the transceiver 24 so that after a certain period of timethe collected event data can be transferred to the centralized externaldata bank or storage. For example, the TSADD 30 may be structured sothat at the end of an ignition cycle the collected event data istransferred out via the ONSTAR® module to the centralized external databank.

The goal of collecting event data around LDW and FCA alerts is toinvestigate the effectiveness of LDW and FCA systems through statisticalpost-processing of such data collected from many vehicles. The postprocessing will statistically analyze the event data to determinewhether or not some action happened in response to the warning. Forexample, the vehicle may have had a certain heading (steering angle)before the LDW alert and then the vehicle changed heading/angle within afew seconds after the LDW alert. In this case, the post processingstatistical analysis may conclude that the LDW alert was valid andeffective and the driver actually acted on it. Similarly, the DAS 10 mayhave generated a FCA alert and the driver may have then applied thebrakes just after receiving the FCA alert, in which case the postprocessing statistical analysis may conclude that the FCA alert wasvalid and effective and the driver actually acted on it.

The embodiment discussed in detail herein focuses on LDW and FCA alerts,but those skilled in the art will appreciate that any other DAS alert orwarning may be tracked and the pertinent contemporaneous event,pre-event and post-event data associated therewith may be captured forsubsequent retrieval and post-processing analysis. Also, the embodimentdiscussed in detail herein utilizes the ONSTAR® system and itsassociated communication protocol for downloading event data, but thoseskilled in the art will appreciate that a wide variety of othertelematics or communication systems and modules and protocols may beutilized for communicating such information.

FIG. 2 shows the format of an ONSTAR® data collection 40, which is usedto communicate event data, and which is maintained in a microcontrollermemory 30M (FIG. 1). The data collection 40 is subdivided into a firstset 42 of LDW records or datasets, a second set 44 of FCA records, and athird set 46 of histograms and counters. Each LDW dataset 42 includespre-event data 42 a, contemporaneous event data 42 b and post-event data42 c. Likewise, each FCA dataset 44 includes pre-event data 44 a,contemporaneous event data 44 b and post-event data 44 c. Due tocapacity constraints, the TSADD 30 may only store a limited number ofLDW and FCA records (five and three, respectively, in the illustratedembodiment, although this may be varied in alternate embodiments). Thethird set 44 comprises a predetermined number of variables or counterswhich are incremented or adjusted, as discussed in greater detail below.

The TSADD 30 includes an Event Recorder 50, which is executed by themicrocontroller 16 as illustrated by the algorithm shown in FIG. 3.

Upon start up, when the operating status of the DAS 10 changes from‘sleep’ to ‘powered’, the Event Recorder 50 initializes all eventdatasets to zero at a first step 52.

Thereafter, the Event Recorder 50 runs three concurrent executionthreads 54, 56 and 58. Thread 54 buffers information so that it can becollected for the pre-event data. Thread 56 monitors the image processor14 for the issuance of an LDW or FCA alert, in which case theprobability event and contemporaneous event data is recorded, thepost-event information is collected and stored, and the pre-eventinformation is transferred from the buffer. Thread 58 periodicallyupdates histograms and counters, as discussed in greater detail below.

Thread 54 includes a pre-event buffering process 60, which is shown indetail in FIG. 4. The buffering process 60 utilizes a memory bufferdivided into two segments 30M1 and 30M2 (FIG. 1). A buffer pointer BPindicates the older of the two buffers segments 30M1, 30M2, which isalso the next buffer segment to be overwritten. The buffer segments 30M1and 30M2 are preferably of the same size and sized large enough to holdthree seconds of pre-event data that is generated by the CAN 20. Thebuffering process 60 operates in round-robin fashion as follows:initially, at step 60A, the BP is set to the second buffer segment 30M2and for the next three seconds the process 60 monitors the CAN bus 20for any pre-event data and writes the pre-event data to the first buffersegment 30M1. After three seconds have elapsed, control passes to step60B where the BP is set to the first buffer segment 30M1 and for thenext three seconds the process 60 monitors the CAN bus 20 for anypre-event data and writes the pre-event data to the second buffersegment 30M2. After three seconds have elapsed, control passes back tostep 60A to repeat the process.

Those skilled in the art will appreciate that the size and correspondingrecording times of each buffer segment may be varied and that the numberof buffer segments may also be varied, while remaining within the spiritand scope of the present invention.

The pre-event data preferably includes the following informationobtained from the CAN bus 20:

Signal Type Comments Time Time GPS Coordinates Coordinate GPS HeadingCoordinate Forward collision alert Set off, near, medium, far gapsetting Adaptive cruise control Boolean active Cruise control activeBoolean ABS active Boolean Is antilock braking system active? ESC activeBoolean Is electronic stability control system active? Windshield wiperactive Boolean Is windshield wiper active? Vehicle Speed IntegerAccelerator Position Percentage Vehicle acceleration Numerical Vehiclelateral acceleration Numerical Yaw rate Numerical Brake pedal positionPercentage Turn signal status Set No, right, left

The pre-event data preferably also includes the following informationobtained from the image processor 14:

FCA state Set $00 = No alert $01 = Alert level 1 $02 = Alert level 2(headway) $03 = Alert level 3 (imminent collision) Range to targetNumerical Target vehicle speed Numerical Target vehicle accelerationNumerical Target vehicle azimuth Numerical Target moveable? BooleanTarget type (motorcycle, etc) Set Car, truck, motorcycle LDW state Set$00 = Off, $01 = Left, $02 = Right Position in lane, left IntegerPosition in lane, right Integer Lane-tracking confidence, left Set Low,medium, high Lane-tracking confidence, right Set Low, medium, highCamera-inferred road curvature, Boolean left Camera-inferred roadcurvature, Boolean right

Referring now to thread 56 in FIG. 3, at a first step 70 the EventRecorder monitors the image processor 14 for receipt of an LDW or FCAwarning.

The Event Recorder 50 will preferably store an LDW dataset 42,irrespective of whether or not the LDW function is turned on, off, ordisabled. Note, however, that the Event Recorder 50 will not store anLDW dataset if the LDW warning is inhibited because the turn signal ison so as to not record valid lane changes. Likewise, the Event Recorder50 will preferably store an FCA dataset 44, irrespective of whether ornot the FCA function is turned on, off, or disabled. Note, however, thatthe Event Recorder 50 will not store an FCA dataset if the FCA warningis inhibited because the brake pedal has been depressed.

At step 72, the Event Recorder 50 determines the storage location forthe probability event within the data collection 40, depending on thetype of probability event. In the illustrated embodiment, the EventRecorder maintains a history of 5 LDW datasets, overwriting the oldestdataset if more than 5 lane departure probability events occur after apower on transition, as illustrated in FIG. 5. Likewise, the EventRecorder maintains a history of 3 FCA datasets, overwriting the oldestdataset if more than 3 forward collision probability events occur aftera power on transition, such as illustrated in FIG. 6.

At step 74 in FIG. 3, the Event Recorder 50 copies pre-event data fromthe buffer segment 30M1 or 30M2 pointed to by the buffer pointer BP intothe pre-event area 42 a or 44 a of the dataset location identified instep 72. It should be appreciated that by utilizing the segmentedbuffers, the pre-event data of the preferred embodiment is known to bebetween zero and six seconds old. For example, if a probability event isdetected just as the second buffer segment starts its time period, thepre-event data transferred from the first buffer will be between zero tothree seconds old. If the probability event is detected just as thesecond buffer segment reaches the end of its time period, the pre-eventdata transferred from the first buffer will be between three to sixseconds old. Thus, this technique ensures that a consistent window ofpre-event data is always available for recordation at any time, whichwould not be the case if a single buffer was utilized that needs to beperiodically overwritten and thus may not guarantee an adequate snapshotof the vehicle signals.

At step 76, the Event Recorder 50 writes event data into thecontemporaneous event area 42 b or 44 b (FIG. 2) of the dataset locationidentified in step 72. The contemporaneous event data preferablyincludes the following information obtained from the CAN bus 20:

Signal Type Comments Time Time GPS Coordinates Coordinate GPS HeadingCoordinate Forward collision alert gap Set off, near, medium, farsetting Adaptive cruise control Boolean active Cruise control activeBoolean ABS active Boolean Is antilock braking system active? ESC activeBoolean Is electronic stability control system active? Windshield wiperactive Boolean Is windshield wiper active? Vehicle Speed IntegerAccelerator Position Percentage Vehicle acceleration Numerical Vehiclelateral acceleration Numerical Yaw rate Numerical Brake pedal positionPercentage Turn signal status Set No, right, left

And the following information obtained from the image processor 14:

FCA state Set $00 = No alert $01 = Alert level 1 $02 = Alert level 2(headway) $03 = Alert level 3 (imminent collision) Range to targetNumerical Target vehicle speed Numerical Target vehicle accelerationNumerical Target vehicle azimuth Numerical Target moveable? BooleanTarget type (motorcycle, etc) Set Car, truck, motorcycle LDW state Set$00 = Off, $01 = Left, $02 = Right Position in lane, left IntegerPosition in lane, right Integer Lane-tracking confidence, left Set Low,medium, high Lane-tracking confidence, right Set Low, medium, highCamera-inferred road curvature, Boolean left Camera-inferred roadcurvature, Boolean right

At step 78 in FIG. 3, the Event Recorder 50 monitors certain variablesand CAN signals for four (4) seconds after a probability event. Notethat unlike the process of collecting pre-event and contemporaneousevent data, the process of collecting the post-event data includes, forcertain signals, monitoring the signal to determine its maximum orminimum value over the four second post-event interval.

The post-event data optionally and preferably includes the followinginformation obtained from the CAN bus 20, pursuant to the indicatedpost-event processing function:

Signal Type Function Adaptive cruise control Boolean Collect 4 secondsafter event active Cruise control active Boolean Collect 4 seconds afterevent ABS active Boolean Maximum ESC active Boolean Maximum BrakeRequest Boolean Maximum Vehicle Speed Integer Collect 4 seconds afterevent Accelerator Position Percentage Collect 4 seconds after eventVehicle acceleration Numerical Collect 4 seconds after event Vehicleacceleration Numerical Maximum Vehicle lateral acceleration NumericalCollect 4 seconds after event Vehicle lateral acceleration NumericalMaximum Yaw rate Numerical Collect 4 seconds after event Yaw rateNumerical Maximum Yaw rate Numerical Minimum Brake pedal positionPercentage Maximum Brake switch active Boolean Maximum Time Brake isactivated Time Value of timer from first occurrence of Brake Switch OnTurn signal status Set Collect 4 seconds after event Air Bag DeploymentSet Maximum, where set defined as: $0 = No Event $1 = Near DeploymentEvent $2 = Pretensioner Deployment Event $3 = Airbag Deployment Event

FCA state Set Maximum Range to target Numerical Collect 4 seconds afterevent Target vehicle speed Numerical Collect 4 seconds after eventTarget vehicle acceleration Numerical Collect 4 seconds after eventTarget vehicle azimuth Numerical Collect 4 seconds after event Targetmoveable? Boolean Collect 4 seconds after event Target type (motorcycle,etc) Set Collect 4 seconds after event LDW state Set Collect 4 secondsafter event Position in lane, left Integer Collect 4 seconds after eventPosition in lane, right Integer Collect 4 seconds after eventLane-tracking confidence, left Set Collect 4 seconds after eventLane-tracking confidence, Set Collect 4 seconds after event right

Note that in the above, the Boolean value for ‘true’ is 1, so themaximum function will return 1 if the Boolean signal becomes ‘true’ atany time in the four seconds after the event. Also, because datareceived over the CAN bus 20 is asynchronous, the notation ‘collect 4seconds after the event’ indicates that the most recent value of thevariable four seconds after the event should be recorded.

At step 80 in FIG. 3, the Event Recorder writes the post-event dataobtained in step 78 into the post-event area 42 c or 44 c (FIG. 2) ofthe dataset location identified in step 72.

At step 82, the Event Recorder 50 updates the appropriate LDW or FCAevent counter shown in FIG. 5 or 6.

Referring now to thread 58 in FIG. 3, the TSADD 30 includes a processfor periodically updating histograms and counters that are stored in thethird set 46 of the data collection 40. An example of a histogram isshown by table 88 in FIG. 7. The table 88 correlates a vehicle speedrange in circumstances where (i) the image processor has not detected anobject; (ii) the image processor has detected an object. Another exampleof a histogram is shown by the three-dimensional table 90 shown in FIG.8, which correlates vehicle speed range with ranges of object detectiondistances (in circumstances where the image processor detects anobject). The histogram and counter updating process updates the tables88 and 90 on a periodic basis, for example, every one second. In theseexamples, the process 60 monitors the vehicle speed and determines theimage processor has detected an object, and if so, the range to theobject, and increments the appropriate cell.

The preferred embodiment maintains similar histograms for vehicle speedrange correlated to: (a) cruise control being turned on, (b) windshieldwiper being active, (c) the number of vehicles detected by the imageprocessor, (d) the right marking confidence level, (e) the left markingconfidence level, (f) left distances to lane markings and (g) rightdistances to lane markings. A variety of other histograms may be trackedas will be appreciated by those skilled in the art.

The histogram and counter updating process also periodically incrementsthe following variables each time the corresponding event occurs: LDWleft alert; LDW right alert; and variables that keep track of variousreasons why the LDW function is inhibited.

In the foregoing, the images obtained from the camera were not stored aspart of the event dataset 40, but in alternate embodiments thepre-event, contemporaneous event and post-event snapshots may stored inthe appropriate dataset.

The Trip Statistics and Alert Data Download (TSADD) feature of thepresent invention collects and records data around the time of an eventof interest. The collected data is generated internally in the camera(such as, for example, CIPV object information) and information receivedon the CAN bus (such as, for example, GPS coordinates). The TSADD makesthe data available to be read using a diagnostic DID from the telematicsmodule (such as ONSTAR®), between others. The goal of collecting eventdata around LDW, FCA and CIB alerts is to investigate the effectivenessof LDW, FCA and CIB systems through statistical post-processing of eventdata collected from many vehicles through the vehicle telematics system.

The TSADD feature utilizes camera diagnostic data that is intended forinternal camera development and troubleshooting. It is understood thatdiagnostic data may not be validated to the same rigorous standard asfunctional messages, such as, for example, FDI messages that aredisplayed to the driver.

The data to be collected within a TSADD feature (Volatile) of thepresent invention is shown in FIG. 9. The diagram shown in FIG. 9 issplit in several DIDs, for efficiency. The data to be collected withinthe Trip Statistics and Alert Data Download Feature (Non Volatile) isshown in FIG. 10. The diagram shown in FIG. 10 is also split in severalDIDs, for efficiency.

The FCM may implement the Event Data Collection as illustrated in theactivity diagram of FIG. 11 (the process of FIG. 11 is similar to thatshown in FIG. 3, but includes a crash imminent braking (CIB) alert andthe “write event tag” step). All event data storage variables that arereferred to herein shall be initialized with 0 when (1) the FCMOperating Status changes from FCM Sleep to FCM Available (i.e. uponPower On Reset), and/or (2) the LSCANRX_SysPwrMd transitions from !Runto Run value.

If the calibration value TSADD_Feature is set to Enabled, then the EventData Collection feature shall be enabled. If the calibration valueTSADD_Feature is set to Disabled, then the Event Data Collection shallbe disabled.

The FCM module shall implement a pre-event buffer in RAM. The pre-eventbuffer comprises two storage locations, which shall be alternatelypopulated with a pre-event dataset as defined in FIG. 4.

An LDW, FCA or CIB event dataset set shall consist of (i) pre-eventdata, event data, post-event data and event tag. When the conditions foran LDW alert are detected, the FCM shall store an LDW dataset,irrespective of whether LDW is on, off, or disabled. Note that an LDWdataset will be stored even if the driver has disabled the LDW warning,an LDW dataset will only be stored if the FCM has the LDW feature (inother words, a part that doesn't include LDW will not record LDWdatasets), and/or an LDW dataset will not be stored if the LDW warningis inhibited, such as, for example, because the turn signal is on (inorder to not record valid lane changes).

The FCA event shall be monitored when the FCA or PEDs feature is/areenabled. If these conditions are satisfied, the FCM shall store an FCAevent dataset. In the event that the pedestrian warning is generated inless than 4 seconds after a forward collision alert, the pedestrianwarning shall take precedence towards storing it in the FCA eventdataset. The driver-selected FCA alert timing (far/medium/near) shallapply to the storage of FCA event dataset. Note that (i) an FCA datasetwill be stored even if the driver has disabled the FCA warning, (ii) anFCA dataset will only be stored if the FCM has the FCA feature (i.e. apart that doesn't include FCA will not record FCA datasets), (iii) anFCA dataset will not be stored if the FCA warning is inhibited, such as,for example, because the brake pedal has been depressed, and/or (iv) anFCA dataset will not be stored in case of headway alerts. If the driverhas disabled FCA alerts by selecting Forward Collision Alert Gap Setting“Off”, the FCA dataset shall be recorded using “far” alert timing.

The CIB event shall be monitored if the low speed collision mitigationby braking

(LSCMB) feature is enabled or the PEDs feature is enabled. If theseconditions are satisfied, the FCM shall store a CIB event dataset. Notethat a process may be used to trigger a Brake Prefill feature at theLSCMB. However, the system has the properties to function appropriatelyshould a full Automatic Braking event occur at higher speeds. Themonitoring of this signal will allow for collection of relevant dataabout performance of Collision Imminent Braking for future development.The reading of the CIB dataset information itself will be enough todetermine if actual automatic braking occurred or not.

As shown in FIGS. 2 and 9, the FCM may maintain a history of 5 LDW eventdatasets, overwriting the oldest dataset if more than 5 LDW events occurafter a Powermode Sleep→Available transition (see FIG. 5). The FCM shallmaintain a history of 3 FCA event datasets (FIGS. 2 and 9), overwritingthe oldest dataset if more than 3 FCA events occur after of PowermodeSleep→Available transition (see FIG. 12). The FCM shall maintain ahistory of 3 CIB event datasets (FIG. 9), overwriting the oldest datasetif more than 3 CIB events occur after of Powermode Sleep→Availabletransition (see FIG. 13).

In the step of Copying Pre-Event Data from Buffer-Pointer in FIG. 11,the FCM may copy pre-event data from the buffer pointer into the storagelocation identified in the step “determine storage location”. Note thatthe Buffer-Pointer is always pointing to the older of the two buffervalues, which is also the next buffer value to be overwritten.

In the step of writing event data in FIG. 11, the FCM writes event datainto the storage location identified in the step “determine storagelocation”.

For about 4 seconds after an event, the FCM shall monitor certainvariables and CAN signals and write a post-event dataset into thestorage location identified in the step “determine storage location” inFIG. 11. If a function is specified (for example, max ( )or min ( ), thefunction shall be applied to all values received by the FCM within 4seconds after the event. The notation @t=4 sec indicates that the mostrecent value of the variable 4 seconds after the event shall be used.

Post-Event data collected per requirements above shall be stored forretrieval in volatile memory.

In the write event tag step in FIG. 11, the FCM shall write event taginto the storage location identified in the step “determine storagelocation”.

After each LDW event, an LDW event counter shall be incremented todetermine the storage location for the following LDW alert data.

After each FCA event, an FCA event counter shall be incremented todetermine the storage location for the following FCA alert data. Aftereach CIB event, a CIB event counter shall be incremented to determinethe storage location for the following CIB alert data.

The FCM collects trip statistics by periodically incrementing countervalues. Counter variables, the rate at which they are incremented, andthe guard conditions under which they are incremented may be establishedvia any suitable means. All guard conditions in a row are to belogically AND connected. Note that, since vehicle speed may be receivedin km/h on the vehicle CAN bus, but trip statistics may be collectedrelative to speed in mph, the FCM may have to convert the vehicle speedinternally for purpose of collecting trip statistics. Also, althougheach counter was designed in size enough to keep counts during a typicaldriving session, each of them will rollover when exceeding its maximumcapable count.

All trip statistics variables shall be initialized with 0 when the FCMOperating Status changes from FCM Sleep to FCM Powered (i.e. upon PowerOn Reset).

The FCM shall increment variables each time the corresponding eventoccurs. Note that, although each counter was designed in size enough tokeep counts during a typical driving session, each of them will rolloverwhen exceeding its maximum capable count.

The FCM may be capable of storing images as well as data in Non-VolatileMemory of an Event of Interest. This feature is known as Non-VolatileMemory Storage, or NVM Storage. In general, the NVM feature shallcomprise (a) two Stored Events, each Stored Event comprising (i) oneDataset that contains PreEvent, Event, PostEvent and Event Tag and (ii)three Images: PreEvent, Event and PostEvent each, (b) events of Interestto be monitored for potential storage, (c) configuration to enable ordisable thru calibration and (d) methods for Data Retrieval.

The following table enlists the Events of Interest to be monitored bythe FCM, towards the NVM feature:

Event Event Type Which Enumeration Triggers Priority for Storage Storageof (15 is Cell Data highest) (hex value) Signal to use Airbag 13 0DLSCANRX_Airbag_Impact_Data - Use signal Deploy Notification EventStatus:Airbag Airbag_Impact_Data - Deployment Event Notification EventCounter to determine if event is new Pretensioner 11 0BLSCANRX_Airbag_Impact_Data - Use signal Deploy Notification EventStatus: Airbag_Impact_Data - Pretensioner Deployment Event NotificationEvent Counter to determine if event is new Airbag 9 09LSCANRX_Airbag_Impact_Data - Use signal Near Notification Event Status:Near Airbag_Impact_Data - Deploy Deployment Event Notification EventCounter to determine if event is new Pedestrian 8 08 IF (PEDs_Feature ==Enabled) FCM_LS internal Braking THEN monitor for the transition signalfrom FALSE to TRUE of M_PED_WRN_1 signal CIB 7 07 IF (LSCMB_Feature ==Enabled) FCM_LS internal { THEN (Monitor for the transition signals fromFALSE to TRUE of bM_CIB_WRN_1 signal ) AND (LSCANRX_VehSpdAvgDrvn <= 60KPH) //Used for Imminent Braking -OR- THEN (Monitor for the transitionfrom FALSE to TRUE of bM_CIB_WRN_3 signal ) AND (LSCANRX_VehSpdAvgDrvn >60 KPH) //Used for Brake Prefill } Pedestrian 6 06 IF (PEDs_Feature ==Enabled) FCM_LS internal Warning THEN monitor for the transition signalfrom FALSE to TRUE of M_PED_WRN_2 signal FCA 5 05UARTRX_alertWarningIndication FCM_LS internal Request signal transitionssignal to “Alert Level 3” value LDW 3 03 UARTRX_laneDepWarningLocation!= OFF FCM_LS internal signal

The FCM shall save into the NVM Storage an Event of Interest if itspriority is higher than the lowest priority dataset of the NVM Storedevents. If the Event of Interest has a priority equal to one or more ofthe NVM Stored events, the FCM shall save the event of interest over theStored event whose Event Tag time is the oldest, between thosesame-priority NVM Stored ones.

If the calibration value NVM Storage Feature is set to Enabled, then theNVM Storage Feature shall be enabled. If the calibration value NVMStorage Feature is set to Disabled, then the NVM Storage Feature shallbe disabled. If a calibration value K_NVM_LDW_Event is set to FALSE,then the NVM Storage for LDW Event shall be disabled. If the calibrationvalue K_NVM_LDW_Event is set to TRUE, then the NVM Storage for LDW Eventshall be enabled. If a calibration value K_NVM_FCA_Event is set toFALSE, then the NVM Storage for FCA Event shall be disabled. If thecalibration value K_NVM_FCA_Event is set to TRUE, then the NVM Storagefor FCA Event shall be enabled. If a calibration valueK_NVM_PedWarning_Event is set to FALSE, then the NVM Storage forPedestrian Warning Event shall be disabled. If the calibration valueK_NVM_PedWarning_Event is set to TRUE, then the NVM Storage forPedestrian Warning Event shall be enabled. If a calibration valueK_NVM_CIB_Event is set to FALSE, then the NVM Storage for CIB Eventshall be disabled. If the calibration value K_NVM_CIB_Event is set toTRUE, then the NVM Storage for CIB Event shall be enabled. If acalibration value K_NVM_PedBraking_Event is set to FALSE, then the NVMStorage for Pedestrian Braking Event shall be disabled. If thecalibration value K_NVM_PedBraking_Event is set to TRUE, then the NVMStorage for Pedestrian Braking Event shall be enabled. If a calibrationvalue K_NVM_AirbagNearDeploy_Event is set to FALSE, then the NVM Storagefor Airbag Near Deploy Event shall be disabled. If the calibration valueK_NVM_AirbagNearDeploy_Event is set to TRUE, then the NVM Storage forAirbag Near Deploy Event shall be enabled. If a calibration valueK_NVM_AirbagPretDeploy_Event is set to FALSE, then the NVM Storage forAirbag Pretensioner Deploy Event shall be disabled. If the calibrationvalue K_NVM_AirbagPretDeploy_Event is set to TRUE, then the NVM Storagefor Airbag Pretensioner Deploy Event shall be enabled. If a calibrationvalue K_NVM_AirbagDeploy_Event is set to FALSE, then the NVM Storage forAirbag Deploy Event shall be disabled. If the calibration valueK_NVM_AirbagDeploy_Event is set to TRUE, then the NVM Storage for AirbagDeploy Event shall be enabled.

The NVM Storage Feature shall be enabled only when the Manufacturer'sEnable Counter variable M_MEC_Count has a value of $00. The FCM shallimplement the NVM Storage Systems Interface as illustrated in thesequence diagram of FIG. 14.

When the FCM transitions to FCM Available power mode, it will monitorfor the relevant Event of Interest, and once an Event of Interest occur,the FCM will process the event. When the FCM transitions to Shutdown,the FCM shall determine what to store in Flash (NVM Storage). IfEvent(s) of Interest is (are) to be saved into NVM Storage, the FCMshall transition from Shutdown into Sleep power mode upon completion ofthe system requirements but no longer than about 300 seconds.

As an outcome, the FCM will write into NVM Storage the Airbag DeployedEvent immediately. If the Event of Interest=LSCANRX_Airbag DeploymentEvent, then the FCM shall execute the following sequenced actions:

1. Transition to FCM_Unavailable_EyeQ_On power mode;

2. Execute “process events in RAM”;

3. Execute “determine what to store in Flash”;

4. Finally, transition to FCM Available power mode.

The External Tool will procure that the FCM enters into Available powermode. Next, the External Tool will initiate a mode to secure access, inorder to obtain access the NVM Stored Events.

Upon successfully entering the mode to secure access, the FCM shalltransition to FCM_Unavailable_EyeQ_On power mode. While inFCM_Unavailable_EyeQ_On power mode, the FCM will not operate the rest ofits features as normally. This is done so the NVM access and datatransmission processing tasks can be granted.

While in the mode to secure access, if the External Tool sends a CPIDCLEAR_NVM_STORED_DATA signal, the FCM shall either:

-   -   a. Respond with Negative response “Conditions Not Correct” if        the system requirements are satisfied, OR    -   b. Erase the sector dedicated to NVM Storage.

Finally, the External Tool will procure that the FCM enters intoShutdown power mode.

The FCM shall Process the Events in RAM, towards the NVM Storage, asillustrated in the activity diagram of FIG. 15. Upon entering the FCMAvailable power mode, the FCM will initialize the variables and buffersto 0's. The calibration variable TSADD_Feature will be checked to decideto execute or not this algorithm. The FCM then toggles every 3 secondsImages and Data in RAM, which it will help towards generating thePre-Event Data and Image. The Pre-Event to Event Data/Image “timeshowing age of this sample” attribute shall be separated by at leastabout 3 seconds.

Upon occurring an Event of Interest, the FCM will fetch for the lowestpriority event from events recorded in RAM previously. This is aprovision that allows having multiple occurrence of events of interestduring the FCM Available power mode, for which the FCM is interested onsaving the most relevant ones. If the priority of such an Event ofInterest is greater than or equal that selected from the RAM list, thenthe FCM will generate the Event and Post Event Data and Images. Finally,the RAM Event List is updated containing the newly Event of Interest init towards the next cycle. The toggling cycle ends when the FCMtransitions to Shutdown power mode, towards “determine what to store inflash” system requirements.

The FCM will handle priority arbitration of events as illustrated in thesequence diagram of FIG. 16. The FCM will determine what to store inFlash (NVM), as illustrated in the activity diagram of FIG. 17.

Upon transitioning to Shutdown, the FCM may not save into NVM Storage ifany of these conditions are present:

1. NVM_Storage_Feature equals to Disabled;

2. Manufacturer's Enable Counter M_MEC_Count is greater than 00 hex;

3. No Event of Interest occurred during the FCM Available power moding.

If the conditionals stated above are not fulfilled, the FCM may executethe following steps towards NVM Storage:

-   -   a. Load the Two NVM Stored Datasets from NVM (Flash);    -   b. Find the candidate from NVM Stored Dataset location to be        potentially replaced by Events of Interest that occurred during        FCM Available, in this case the lowest of the priority and if        needed, the oldest;    -   c. Find the candidate Event of Interest that occurred during the        FCM Available, with the highest priority, and if needed, the        newest, that could potentially replace the currently saved        dataset from NVM;    -   d. Compare b and c. If c>=b, then proceed to save the Event of        Interest into the NVM Storage location, Data and Images;    -   e. Do this comparison for each of the (Two) NVM Stored        locations;    -   f. Transition to FCM Sleep when done.

The FCM shall implement the UART Systems Interface as illustrated in thesequence diagram of FIG. 17.

An objective of a “buffer image to RAM” process of the system of thepresent invention is to provide the ability to determine when and whereto save an image in a RAM location for TSADD purpose. The input mayprovide a Pseudo location that indicates where to store the RAM Image,with possible values from 0 to 8 (9 locations Total), and the returnedoutput may be 0 if success, ERROR otherwise.

An objective of a “request stored header” process of the system of thepresent invention is to retrieve the previously stored header datainformation from a particular event of interest. The input may provide apseudo location that indicates from where to retrieve the headerinformation out of the TSADD Flash structure, with possible values from0 to 5 (6 locations Total), and the returned output may be a stream of255 bytes of data that corresponds to the requested allocated headerinformation.

An objective of a “save header to flash” process of the system of thepresent invention is to save into the requested pseudo allocation ofTSADD Flash the stream of data. The input may provide a pseudo locationthat indicates where to save the header information, for laterretrieval, with possible values from 0 to 5 (6 locations Total), and astream of 255 bytes of data, and the returned output may be 0 ifsuccess, ERROR otherwise.

An objective of a “save image to flash” process of the system of thepresent invention is to save into the requested pseudo allocation ofTSADD Flash the Image. An input may be a pseudo location that indicateswhere to save the Image into the Flash sector, for later retrieval, withpossible values from 0 to 5 (6 locations Total), and a pseudo locationthat indicates the location of the RAM Image to be saved into Flash,with possible values from 0 to 8 (9 locations Total), and the returnedoutput may be 0 if success, ERROR otherwise.

An objective of an “execute save to flash” process of the system of thepresent invention is to trigger the Flashing process, so that the EyeQ2processor makes the necessary memory management in an efficient manner.The Header(s) or Image(s) that are to be saved by the subcomponent shallnot disturb the data integrity of the allocations (headers and images)not instructed to be overwritten by the MPC. There may be no input tothis process and the returned output may be 0 if success, ERRORotherwise.

An objective of a “request RAM image download” process of the system ofthe present invention is to retrieve the previously stored Image datafrom TSADD RAM from a particular event of interest. This service is apreparation for architectures where external Flash locations may beadded. An input may be a pseudo location that indicates from where toretrieve the Image out of the TSADD RAM structure, with possible valuesfrom 0 to 8 (9 locations Total), a start address offset of the Image tobe retrieved, and the size of image data bytes to be transmitted, andthe returned output may be a stream of Image data bytes, with the streamsize as indicated by the input, that corresponds to the requestedallocated Image from TSADD RAM.

An objective of a “request flash image download” process of the systemof the present invention is to retrieve the previously stored Image datafrom TSADD Flash from a particular event of interest. An input may be apseudo location that indicates from where to retrieve the Image out ofthe TSADD Flash structure, with possible values from 0 to 5 (6 locationsTotal), a start address offset of the Image to be retrieved, and thesize of image data bytes to be transmitted, and the returned output maybe a stream of Image data bytes, with stream size as indicated by theinput, that corresponds to the requested allocated Image from TSADDFlash.

An objective of a “request erase flash” process of the system of thepresent invention is to erase (fill with FFs) the completeTSADD-dedicated Flash Sector. There may be no input and a returnedoutput may be 0 if success, ERROR otherwise.

The Subcomponent shall allocate the RAM and Flash towards the NVMStorage feature as shown in the composite diagram of FIG. 19.

Unless specified in the particular data otherwise, whenever there isabsence of information related to such data, or its entire dataset(including image datasets), the FCM shall report the default value(s) as00 hex.

Event Data and Trip Statistics data shall be maintained while the FCMmodule is in the FCM Available State. The data need not be maintainedafter the FCM goes to sleep following VN deactivation or after theunlikely event of a hardware reset.

The FCM shall allow the stored data to be read using LAN physicalmessages. A

Security Access Service mode may be used to enable Stored DataTransmission and Stored Data Clearing. The security access scheme shallbe as follows: the FCM shall create a random 16-bit non-zero andnon-$FFFF number as its seed. The calculation of the key shall be the1's complement of the seed value. The FCM shall use a Sub-functionParameter for the RequestSeed. The FCM shall use the Sub-functionParameter for the SendKey.

The flow diagram of FIG. 20 describes the strategy for the External Toolto extract Images.

While in the access mode, to download an image, the External Tool mustperform the following actions:

-   -   1. Prior image downloading, the External Tool should request the        correspondent FCM NVM Event “X” Dataset first and observe for        its Type of Event field. If such is equal to 00 hex, then the        Event's image data is blank (filled with 00s), thus the image        downloading step could be skipped by the External Tool.    -   2. The External Tool may create a file with extension *.PGM    -   3. Edit the file created to add the following data to the start        of the file: “P5\n160 120\n255\n”    -   4. Identify and request the Non-Volatile Image DID to retrieve.        The external Tool may append the Image Data Bytes (1024 bytes)        to the created file while in edit mode.    -   5. The Total Number of Blocks indicate the number of polls        needed to collect the data. Thus, the External Tool may request        the chosen DID Total Number of Block -1 times more. The External        Tool may append each Image Data Bytes response to the file while        in edit mode.    -   6. Upon reading Block Number=Total Number of Blocks−1, then trim        the Image Data Bytes by calculating the Number of Bytes to        Trim=(1024) (Block Number+1)−Total Size of Image.    -   7. Close the file.    -   8. Now, this file can be open by Irfanview, which is available        at http://www.irfanview.com.    -   9. The image will appear vertically flipped. The irfanview        application has provisions to unflip it, for viewing by the        human eye.    -   9a. Alternatively, the External Tool can implement the following        algorithm, to unflip it automatically.

The FCM shall rollover the transmission of Image Data Bytes, to BlockNumber 0, if the Last DID request had Block Number=Total Number ofBlocks−1.

Therefore, the present invention provides a statistics collection andevaluation system that collects statistics on a driver assistance system(that provides object detection and system response to detected objectsand/or driving conditions) in order to facilitate determination of theeffectiveness of the driver assistance system or systems on vehiclesbeing driven on roads. A method of the present invention may evaluatethe effectiveness of the driver assistance system with an image sensorfor sensing a spatial region external to the vehicle. The method mayinclude the steps of capturing images pertaining to the external spatialregion, evaluating, in an image processor, the captured images andderiving image processing signals therefrom, and deriving probabilityevents from the image processing signals. The method includes buffering,in predetermined time intervals, image processing signals and vehiclesignals received in the driver assistance system through a vehicle databus. After a probability event has been derived, a pre-event dataset, anevent-dataset and a post-event dataset are stored. The pre-eventdataset, the event dataset, and post-event dataset are retrieved fromthe vehicle and are processed to determine if the probability event wastrue or false. The pre-event dataset comprises image processing signalsand vehicle signals buffered before the probability event occurred, theevent dataset comprises image processing signals and vehicle signals atthe time of the probability event, and the post-event dataset comprisesimage processing signals and vehicle signals received at a predeterminedtime or within a predetermined time period after the probability eventoccurred.

The driver assistance system provides data for use within asafety-critical application, and the safety critical application may beenabled after a larger number of pre-event datasets, event datasets, andpost-event datasets from a plurality of vehicles has been processed andit has been determined that the probability events derived from theimage processing signals are sufficiently free of false events. Thesafety-critical application may comprise an automatic brakingapplication and/or an automatic evasive steering application and/or thelike.

The step of determining if the probability event was true or falsecomprises detecting a driver response to the probability event. Thedriver response to the probability event may be represented by a vehiclesignal indicating at least one of a brake activation, a steering wheelmovement, a yaw rate change, a vehicle deceleration, and a vehicleacceleration.

The driver assistance system may include an image sensor and an imageprocessor operatively connected to the image sensor for deriving imageprocessing signals from images captured by the image sensor. A randomaccess memory is operatively connected to the image processor, and anon-volatile memory is operatively connected to the image processor. Avehicle interface processor is operatively connected to the imageprocessor and to a vehicle data bus. The vehicle communication processorperiodically, or in response to an image processing signal or inresponse to a signal received on the vehicle data bus, instructs theimage processor to buffer images in random access memory. The vehiclecommunication processor instructs the image processor to copy imagesfrom the random access memory to the non-volatile memory based on apriority determination in the vehicle communication processor.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inPCT Application No. PCT/US2012/066570, filed Nov. 27, 2012 and publishedJun. 6, 2013 as International Publication No. WO 2013/081984, and/or PCTApplication No. PCT/US2012/066571, filed Nov. 27, 2012 and publishedJun. 6, 2013 as International Publication No. WO 2013/081985, which arehereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEyeQ2 or EyeQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, an array of a plurality of photosensorelements arranged in at least 640 columns and 480 rows (preferably amegapixel imaging array or the like), with a respective lens focusingimages onto respective portions of the array. The photosensor array maycomprise a plurality of photosensor elements arranged in a photosensorarray having rows and columns. The logic and control circuit of theimaging sensor may function in any known manner, and the imageprocessing and algorithmic processing may comprise any suitable meansfor processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 201 2/1 581 67; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145501; WO 2012/0145343; WO 2012/154919; WO2013/019707; WO 2013/016409; WO 2012/145822; WO 2013/067083; WO2013/070539; WO 2013/043661; WO 2013/048994; WO 2013/063014, WO2013/081984; WO 2013/081985; WO 2013/074604; WO 2013/086249; WO2013/103548; WO 2013/109869 and/or PCT Application No.PCT/US2012/056014, filed Sep. 19, 2012 and published Mar. 28, 2013 asInternational Publication No. WO 2013/043661, and/or PCT/US2012/071219,filed Dec. 21, 2012 and published Jul. 11, 2013 as InternationalPublication No. WO 2013/103548, and/or PCT Application No.PCT/US2013/026101, filed Feb. 14, 2013 and published Aug. 22, 2013 asInternational Publication No. WO 2013/123161, and/or PCT Application No.PCT/US2013/027342, filed Feb. 22, 2013 and published Aug. 29, 2013 asInternational Publication No. WO 2013/126715, and/or PCT Application No.PCT/US2013/036701, filed Apr. 16, 2013 and published Oct. 24, 2013 asInternational Publication No. WO 2013/158592, and/or U.S. patentapplications, Ser. No. 13/964,134, filed Aug. 12, 2013 and publishedFeb. 20, 2014 as U.S. Publication No. US-2014-0052340; Ser. No.13/942,758, filed Jul. 16, 2013 and published Jan. 23, 2014 as U.S.Publication No. US-2014-0025240; Ser. No. 13/942,753, filed Jul. 16,2013 and published Jan. 30, 2014 as U.S. Publication No.US-2014-0028852; Ser. No. 13/927,680, filed Jun. 26, 2013 and publishedJan. 2, 2014 as U.S. Publication No. US-2014-0005907; Ser. No.13/916,051, filed Jun. 12, 2013 and published Dec. 26, 2013 as U.S.Publication No. US-2013-0344736; Ser. No. 13/894,870, filed May 15, 2013and published Nov. 28, 2013 as U.S. Publication No. US-2013-0314503;Ser. No. 13/887,724, filed May 6, 2013 and published Nov. 14, 2013 asU.S. Publication No. US-2013-0298866; Ser. No. 13/851,378, filed Mar.27, 2013 and published Nov. 14, 2013 as U.S. Publication No.US-2013-0300869; Ser. No. 13/848,796, filed Mar. 22, 2012 and publishedOct. 24, 2013 as U.S. Publication No. US-2013-0278769; Ser. No.13/847,815, filed Mar. 20, 2013 and published Oct. 31, 2013 as U.S.Publication No. US-2013-0286193; Ser. No. 13/800,697, filed Mar. 13,2013 and published Oct. 3, 2013 as U.S. Publication No. US-2013-0258077;Ser. No. 13/785,099, filed Mar. 5, 2013 and published Sep. 19, 2013 asU.S. Publication No. US-2013-0242099; Ser. No. 13/779,881, filed Feb.28, 2013 and published Sep. 5, 2013 as U.S. Publication No.US-2013-0231825; Ser. No. 13/774,317, filed Feb. 22, 2013 and publishedAug. 29, 2013 as U.S. Publication No. US-2013-0222592; Ser. No.13/774,315, filed Feb. 22, 2013 and published Aug. 22, 2013 as U.S.Publication No. US-2013-0215271; Ser. No. 13/681,963, filed Nov. 20,2012 and published Jun. 6, 2013 as U.S. Publication No. US-2013-0141578;Ser. No. 13/660,306, filed Oct. 25, 2012 and published May 9, 2013 asU.S. Publication No. US-2013-0116859; Ser. No. 13/653,577, filed Oct.17, 2012 and published Apr. 25, 2013 as U.S. Publication No.US-2013-0099908; and/or Ser. No. 13/534,657, filed Jun. 27, 2012 andpublished Jan. 3, 2013 as U.S. Publication No. US-2013-0002873, and/orU.S. provisional applications, Ser. No. 61/845,061, filed Jul. 11, 2013;Ser. No. 61/844,630, filed Jul. 10, 2013; Ser. No. 61/844,173, filedJul. 9, 2013; Ser. No. 61/844,171, filed Jul. 9, 2013; Ser. No.61/840,542; Ser. No. 61/838,619, filed Jun. 24, 2013; Ser. No.61/838,621, filed Jun. 24, 2013; Ser. No. 61/837,955, filed Jun. 21,2013; Ser. No. 61/836,900, filed Jun. 19, 2013; Ser. No. 61/836,380,filed Jun. 18, 2013; Ser. No. 61/834,129, filed Jun. 12, 2013; Ser. No.61/834,128, filed Jun. 12, 2013; Ser. No. 61/833,080, filed Jun. 10,2013; Ser. No. 61/830,375, filed Jun. 3, 2013; Ser. No. 61/830,377,filed Jun. 3, 2013; Ser. No. 61/825,752, filed May 21, 2013; Ser. No.61/825,753, filed May 21, 2013; Ser. No. 61/823,648, filed May 15, 2013;Ser. No. 61/823,644, filed May 15, 2013; Ser. No. 61/821,922, filed May10, 2013; Ser. No. 61/819,835, filed May 6, 2013; Ser. No. 61/819,033,filed May 3, 2013; Ser. No. 61/16,956, filed Apr. 29, 2013; Ser. No.61/815,044, filed Apr. 23, 2013; Ser. No. 61/814,533, filed Apr. 22,2013; Ser. No. 61/813,361, filed Apr. 18, 2013; Ser. No. 61/840,407,filed Apr. 10, 2013; Ser. No. 61/808,930, filed Apr. 5, 2013; Ser. No.61/807,050, filed Apr. 1, 2013; Ser. No. 61/806,674, filed Mar. 29,2013; Ser. No. 61/806,673, filed Mar. 29, 2013; Ser. No. 61/804,786,filed Mar. 25, 2013; Ser. No. 61/793,592, filed Mar. 15, 2013; Ser. No.61/793,614, filed Mar. 15, 2013; Ser. No. 61/772,015, filed Mar. 4,2013; Ser. No. 61/772,014, filed Mar. 4, 2013; Ser. No. 61/770,051,filed Feb. 27, 2013; Ser. No. 61/770,048, filed Feb. 27, 2013; Ser. No.61/766,883, filed Feb. 20, 2013; Ser. No. 61/760,366, filed Feb. 4,2013; Ser. No. 61/760,364, filed Feb. 4, 2013; Ser. No. 61/758,537,filed Jan. 30, 2013; Ser. No. 61/756,832, filed Jan. 25, 2013; Ser. No.61/754,804, filed Jan. 21, 2013; Ser. No. 61/745,925, filed Dec. 26,2012; Ser. No. 61/745,864, filed Dec. 26, 2012; Ser. No. 61/736,104,filed Dec. 12, 2012; Ser. No. 61/736,103, filed Dec. 12, 2012; Ser. No.61/735,314, filed Dec. 10, 2012; Ser. No. 61/734,457, filed Dec. 7,2012; Ser. No. 61/733,598, filed Dec. 5, 2012; Ser. No. 61/733,093,filed Dec. 4, 2012; Ser. No. 61/727,912, filed Nov. 19, 2012; Ser. No.61/727,911, filed Nov. 19, 2012; Ser. No. 61/727,910, filed Nov. 19,2012; Ser. No. 61/718,382, filed Oct. 25, 2012; Ser. No. 61/713,772,filed Oct. 15, 2012; Ser. No. 61/710,924, filed Oct. 8, 2012; Ser. No.61/710,247, filed Oct. 2, 2012; and/or Ser. No. 61/696,416, filed Sep.4, 2012, which are all hereby incorporated herein by reference in theirentireties. The system may communicate with other communication systemsvia any suitable means, such as by utilizing aspects of the systemsdescribed in International Publication No. WO 2013/043661, PCTApplication No. PCT/U.S. Ser. No. 10/038,477, filed Jun. 14, 2010,and/or PCT Application No. PCT/US2012/066571, filed Nov. 27, 2012 andpublished Jun. 6, 2013 as International Publication No. WO 2013/081985,and/or U.S. patent application Ser. No. 13/202,005, filed Aug. 17, 2011,now U.S. Pat. No. 9,126,525, which are hereby incorporated herein byreference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and 6,824,281, and/or International Publication Nos. WO2010/099416 and/or WO 2011/028686, and/or U.S. patent application Ser.No. 12/508,840, filed Jul. 24, 2009, and published Jan. 28, 2010 as U.S.Pat. Publication No. US 2010-0020170, and/or PCT Application No.PCT/US2012/048110, filed Jul. 25, 2012 and published Jan. 31, 2013 asInternational Publication No. WO 2013/016409, and/or U.S. patentapplication Ser. No. 13/534,657, filed Jun. 27, 2012 and published Jan.3, 2013 as U.S. Publication No. US-2013-0002873, which are all herebyincorporated herein by reference in their entireties.

The camera or cameras may comprise any suitable cameras or imagingsensors or camera modules, and may utilize aspects of the cameras orsensors described in U.S. patent applications, Ser. No. 12/091,359,filed Apr. 24, 2008 and published Oct. 1, 2009 as U.S. Publication No.US-2009-0244361; and/or Ser. No. 13/260,400, filed Sep. 26, 2011, nowU.S. Pat. No. 8,542,451, and/or U.S. Pat. Nos. 7,965,336 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties. The imaging array sensor may comprise any suitable sensor,and may utilize various imaging sensors or imaging array sensors orcameras or the like, such as a CMOS imaging array sensor, a CCD sensoror other sensors or the like, such as the types described in U.S. Pat.Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093; 5,877,897; 6,922,292;6,757,109; 6,717,610; 6,590,719; 6,201,642; 6,498,620; 5,796,094;6,097,023; 6,320,176; 6,559,435; 6,831,261; 6,806,452; 6,396,397;6,822,563; 6,946,978; 7,339,149; 7,038,577; 7,004,606; 7,720,580 and/or7,965,336, and/or International Publication Nos. WO/2009/036176 and/orWO/2009/046268, which are all hereby incorporated herein by reference intheir entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. patent applications, Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. patent application Ser. No. 10/538,724, filedJun. 13, 2005 and published Mar. 9, 2006 as U.S. Publication No.US-2006-0050018, which are hereby incorporated herein by reference intheir entireties, a traffic sign recognition system, a system fordetermining a distance to a leading or trailing vehicle or object, suchas a system utilizing the principles disclosed in U.S. Pat. Nos.6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. patent applications, Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct.14, 2009 and published Apr. 22, 2010 as U.S. Publication No.US-2010-0097469, which are hereby incorporated herein by reference intheir entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. patent application Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, which are all hereby incorporatedherein by reference in their entireties. Optionally, the video mirrordisplay screen or device may be operable to display images captured by arearward viewing camera of the vehicle during a reversing maneuver ofthe vehicle (such as responsive to the vehicle gear actuator beingplaced in a reverse gear position or the like) to assist the driver inbacking up the vehicle, and optionally may be operable to display thecompass heading or directional heading character or icon when thevehicle is not undertaking a reversing maneuver, such as when thevehicle is being driven in a forward direction along a road (such as byutilizing aspects of the display system described in InternationalPublication No. WO 2012/051500, which is hereby incorporated herein byreference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed International Publication Nos. WO 2010/099416; WO 2011/028686;WO 2012/075250; WO 2013/019795; WO 2012-075250; WO 2012/154919; WO2012/0116043; WO 2012/0145501 and/or WO 2012/0145313, and/or PCTApplication No. PCT/CA2012/000378, filed Apr. 25, 2012 and publishedNov. 1, 2012 as International Publication No. WO 2012/145822, and/or PCTApplication No. PCT/US2012/066571, filed Nov. 27, 2012 and publishedJun. 6, 2013 as International Publication No. WO 2013/081985, and/or PCTApplication No. PCT/US2012/068331, filed Dec. 7, 2012 and published Jun.13, 2013 as International Publication No. WO 2013/086249, and/or PCTApplication No. PCT/US2013/022119, filed Jan. 18, 2013 and publishedJul. 25, 2013 as International Publication No. WO 2013/109869, and/orU.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011, nowU.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. patent applications, Ser. No. 12/091,525,filed Apr. 25, 2008, now U.S. Pat. No. 7,855,755; Ser. No. 11/226,628,filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008; and/or Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare all hereby incorporated herein by reference in their entireties. Thedisplay is viewable through the reflective element when the display isactivated to display information. The display element may be any type ofdisplay element, such as a vacuum fluorescent (VF) display element, alight emitting diode (LED) display element, such as an organic lightemitting diode (OLED) or an inorganic light emitting diode, anelectroluminescent (EL) display element, a liquid crystal display (LCD)element, a video screen display element or backlit thin film transistor(TFT) display element or the like, and may be operable to displayvarious information (as discrete characters, icons or the like, or in amulti-pixel manner) to the driver of the vehicle, such as passenger sideinflatable restraint (PSIR) information, tire pressure status, and/orthe like. The mirror assembly and/or display may utilize aspectsdescribed in U.S. Pat. Nos. 7,184,190; 7,255,451; 7,446,924 and/or7,338,177, which are all hereby incorporated herein by reference intheir entireties. The thicknesses and materials of the coatings on thesubstrates of the reflective element may be selected to provide adesired color or tint to the mirror reflective element, such as a bluecolored reflector, such as is known in the art and such as described inU.S. Pat. Nos. 5,910,854; 6,420,036 and/or 7,274,501, which are herebyincorporated herein by reference in their entireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.patent application Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare hereby incorporated herein by reference in their entireties.

While the above description constitutes specific examples, theseexamples are susceptible to further modification and change withoutdeparting from the fair meaning of the accompanying claims.

The invention claimed is:
 1. A driver assistance system suitable for usein a vehicle, said driver assistance system comprising: aforward-viewing camera mounted at a front windshield of a vehicleequipped with said driver assistance system; said camera viewing forwardof the equipped vehicle through the windshield; said camera comprising alens and an image sensor; said image sensor comprising a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns; an event recorder comprising an image processor and memory;wherein said image processor is operable to process image data capturedby said camera for detecting objects in the field of view of saidcamera; said image processor utilizing object detection software fordetecting objects in the field of view of said camera; wherein memory ofsaid event recorder comprises random access memory associated with saidimage processor; wherein memory of said event recorder comprisesnon-volatile memory associated with said image processor; wherein, basedat least in part on processing by said image processor of image datacaptured by said camera, a lane departure warning is generated if, whena turn signal of the equipped vehicle is not activated, at least one of(i) the equipped vehicle is heading towards a lane marking and (ii) theequipped vehicle is within a certain distance of an edge of a lanemarking for a certain time; wherein generation of said lane departurewarning defines a lane departure warning event; wherein, based at leastin part on processing by said image processor of image data captured bysaid camera, a forward collision alert is generated if the equippedvehicle is heading towards a given object with the separation betweenthe equipped vehicle and the given object being less than a threshold;wherein generation of said forward collision alert defines a forwardcollision alert event; wherein said event recorder receives vehicle datavia a vehicle data bus of the equipped vehicle; wherein vehicle datareceived at said event recorder comprises vehicle speed; wherein imagedata captured by said camera and vehicle data received at said eventrecorder during a first pre-event time period immediately preceding saidlane departure warning event begins is stored in memory of said eventrecorder; wherein image data captured by said camera and vehicle datareceived at said event recorder during a first post-event time periodimmediately following said lane departure warning event begins is storedin memory of said event recorder; wherein image data captured by saidcamera and vehicle data received at said event recorder during a secondpre-event time period immediately preceding said forward collision alertevent begins is stored in memory of said event recorder; and whereinimage data captured by said camera and vehicle data received at saidevent recorder during a second post-event time period immediatelyfollowing said forward collision alert begins is stored in memory ofsaid event recorder.
 2. The driver assistance system of claim 1, whereincaptured image data is stored in random access memory of said eventrecorder responsive to at least one of (i) image processing by saidimage processing and (ii) received vehicle data.
 3. The driverassistance system of claim 2, wherein captured image data is moved fromrandom access memory to non-volatile memory based on a prioritydetermination.
 4. The driver assistance system of claim 1, whereincaptured image data is processed to detect at least one type ofprobability event.
 5. The driver assistance system of claim 4, whereinsaid driver assistance system comprises a safety-critical application,and wherein the safety critical application is enabled after it has beendetermined that the detected at least one type of probability event issufficiently free of false events.
 6. The driver assistance system ofclaim 5, wherein the safety-critical application comprises an automaticbraking application.
 7. The driver assistance system of claim 5, whereinthe safety-critical application comprises an automatic evasive steeringapplication.
 8. The driver assistance system of claim 4, wherein saiddriver assistance system is operable to determine if a detectedprobability event is true or false and wherein the determinationcomprises detection of driver response to the probability event.
 9. Thedriver assistance system of claim 8, wherein driver response to theprobability event is represented by received vehicle data indicating atleast one of a brake activation, a steering wheel movement, a yaw ratechange, a vehicle deceleration and a vehicle acceleration.
 10. Thedriver assistance system of claim 1, wherein at least one of said firstand second pre-event time periods is greater than zero seconds and lessthan six seconds.
 11. The driver assistance system of claim 1, whereinat least one of said first and second post-event time periods is greaterthan zero seconds and less than four seconds.
 12. The driver assistancesystem of claim 1, wherein vehicle data received at said event recordercomprises at least one of (i) brake deployment data, (ii) airbagdeployment data and (iii) anti-lock braking system (ABS) deploymentdata.
 13. A driver assistance system suitable for use in a vehicle, saiddriver assistance system comprising: a forward-viewing camera mounted ata front windshield of a vehicle equipped with said driver assistancesystem; said camera viewing forward of the equipped vehicle through thewindshield; said camera comprising a lens and an image sensor; saidimage sensor comprising a plurality of photosensor elements arranged ina photosensor array having at least 480 rows and at least 640 columns;an event recorder comprising an image processor and memory; wherein saidimage processor is operable to process image data captured by saidcamera for detecting objects in the field of view of said camera; saidimage processor utilizing object detection software for detectingobjects in the field of view of said camera; wherein memory of saidevent recorder comprises random access memory associated with said imageprocessor; wherein memory of said event recorder comprises non-volatilememory associated with said image processor; wherein, based at least inpart on processing by said image processor of image data captured bysaid camera, a lane departure warning is generated if, when a turnsignal of the equipped vehicle is not activated, at least one of (i) theequipped vehicle is heading towards a lane marking and (ii) the equippedvehicle is within a certain distance of an edge of a lane marking for acertain time; wherein generation of said lane departure warning definesa lane departure warning event; wherein, based at least in part onprocessing by said image processor of image data captured by saidcamera, a forward collision alert is generated if the equipped vehicleis heading towards a given object with the separation between theequipped vehicle and the given object being less than a threshold;wherein generation of said forward collision alert defines a forwardcollision alert event; wherein said event recorder receives vehicle datavia a vehicle data bus of the equipped vehicle; wherein vehicle datareceived at said event recorder comprises vehicle speed; wherein imagedata captured by said camera and vehicle data received at said eventrecorder during a first pre-event time period immediately preceding saidlane departure warning event begins is stored in memory of said eventrecorder; wherein image data captured by said camera and vehicle datareceived at said event recorder during a first post-event time periodimmediately following said lane departure warning event begins is storedin memory of said event recorder; wherein image data captured by saidcamera and vehicle data received at said event recorder during a secondpre-event time period immediately preceding said forward collision alertevent begins is stored in memory of said event recorder; wherein imagedata captured by said camera and vehicle data received at said eventrecorder during a second post-event time period immediately followingsaid forward collision alert begins is stored in memory of said eventrecorder; and wherein said driver assistance system comprises asafety-critical application.
 14. The driver assistance system of claim13, wherein the safety-critical application comprises an automaticbraking application.
 15. The driver assistance system of claim 14,wherein captured image data is processed to detect at least one type ofprobability event.
 16. The driver assistance system of claim 15, whereinthe safety critical application is enabled after it has been determinedthat the detected at least one type of probability event is sufficientlyfree of false events.
 17. A driver assistance system suitable for use ina vehicle, said driver assistance system comprising: a forward-viewingcamera mounted at a front windshield of a vehicle equipped with saiddriver assistance system; said camera viewing forward of the equippedvehicle through the windshield; said camera comprising a lens and animage sensor; said image sensor comprising a plurality of photosensorelements arranged in a photosensor array having at least 480 rows and atleast 640 columns; an event recorder comprising an image processor andmemory; wherein said image processor is operable to process image datacaptured by said camera for detecting objects in the field of view ofsaid camera; said image processor utilizing object detection softwarefor detecting objects in the field of view of said camera; whereinmemory of said event recorder comprises random access memory associatedwith said image processor; wherein memory of said event recordercomprises non-volatile memory associated with said image processor;wherein, based at least in part on processing by said image processor ofimage data captured by said camera, a forward collision alert isgenerated if the equipped vehicle is heading towards a given object withthe separation between the equipped vehicle and the given object beingless than a threshold; wherein generation of said forward collisionalert defines a forward collision alert event; wherein said eventrecorder receives vehicle data via a vehicle data bus of the equippedvehicle; wherein vehicle data received at said event recorder comprisesvehicle speed; wherein image data captured by said camera and vehicledata received at said event recorder during a first pre-event timeperiod immediately preceding said forward collision alert event beginsis stored in memory of said event recorder; wherein image data capturedby said camera and vehicle data received at said event recorder during afirst post-event time period immediately following said forwardcollision alert event begins is stored in memory of said event recorder;and wherein captured image data is stored in random access memory ofsaid event recorder.
 18. The driver assistance system of claim 17,wherein captured image data is moved from random access memory tonon-volatile memory based on a priority determination.
 19. The driverassistance system of claim 18, wherein captured image data is stored inrandom access memory of said event recorder responsive to at least oneof (i) image processing by said image processing and (ii) receivedvehicle data.
 20. The driver assistance system of claim 17, wherein saiddriver assistance system comprises a safety-critical application andwherein the safety-critical application comprises an automatic brakingapplication.